#ifndef __COMMON_IMU_H
#define __COMMON_IMU_H

#include "math.h"
#include "Com_Types.h"

/* 表示四元数的结构体 */
typedef struct
{
    float q0;
    float q1;
    float q2;
    float q3;
} Quaternion_Struct;


extern float RtA;
extern float Gyro_G;
extern float Gyro_Gr;

void  Com_IMU_GetEulerAngle(AccelGyro_Struct  *gyroAccel,
                               EulerAngle_Struct *eulerAngle,
                               float              dt);
float Com_IMU_GetNormAccZ(void);

#endif
